version: 66.03
glider: 122
mission: 6
dive: 137
start: 3 15 108 0 22 29
data:
$ID,122
$MISSION,6
$DIVE,137
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,366
$T_MISSION,439
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51598
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0026499999
$HD_B,0.0112
$HD_C,5.1899999e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-29891.449
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3579
$C_PITCH,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14.76
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,168
$ROLL_MAX,3733
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,417
$VBD_MAX,3757
$C_VBD,2678
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-4.1162887
$PRESSURE_SLOPE,0.00025722419
$AD7714Ch0Gain,64
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,9
$ALTIM_SENSITIVITY,2
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044208211
$SEABIRD_T_H,0.00065343338
$SEABIRD_T_I,2.7514026e-05
$SEABIRD_T_J,3.0288847e-06
$SEABIRD_C_G,-10.084093
$SEABIRD_C_H,1.1290534
$SEABIRD_C_I,-0.0015321091
$SEABIRD_C_J,0.00018406138
$GPS1,001632,1246.588,12021.684,38,1.6,38,-0.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-72.9
$GPS2,002157,1246.564,12021.628,13,1.2,13,-0.8
$SPEED_LIMITS,0.156,0.209
$TGT_NAME,EAST
$TGT_LATLONG,1250.710,12042.750
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,82.6,38904,-17.4,-9.016
$D_GRID,772
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.42,-146.0,0.0,0.0,0,85,0.00,0.00,-63.05,0.000,2,0.000,0.000,249,2108,2464
$GC,88,-1.42,-146.0,3.3,-7.1,10,126,13.62,2.40,-14.75,0.000,4,0.174,0.055,2587,762,3276
$GC,150,-1.02,-146.0,21.4,-27.1,20,158,0.47,2.35,0.00,0.000,6,0.111,0.028,2678,2162,3277
$GC,496,-0.94,-146.0,82.6,-15.2,81,503,0.12,2.42,0.00,0.000,4,0.102,0.043,2702,767,3279
$GC,532,-0.94,-146.0,87.6,-13.3,87,539,0.00,2.28,0.00,0.000,6,0.000,0.027,2702,2128,3279
$GC,877,-0.97,-146.0,126.7,-9.7,148,884,0.00,2.45,0.00,0.000,4,0.000,0.044,2702,3555,3280
$GC,1003,-1.04,-146.0,138.8,-9.7,170,1011,0.12,2.28,0.00,0.000,6,0.051,0.027,2657,2176,3280
$GC,1349,-1.09,-146.0,176.6,-8.8,231,1356,0.00,2.47,0.00,0.000,4,0.000,0.044,2656,748,3282
$GC,1386,-1.17,-146.0,179.5,-8.3,237,1393,0.00,2.38,0.00,0.000,6,0.000,0.028,2656,2171,3282
$GC,1728,-1.23,-146.0,205.7,-7.6,298,1735,0.00,2.35,0.00,0.000,4,0.000,0.045,2656,3546,3283
$GC,1792,-1.30,-146.0,210.5,-7.3,309,1799,0.17,2.28,0.00,0.000,6,0.045,0.028,2603,2170,3283
$GC,2137,-1.25,-146.0,242.3,-10.0,370,2144,0.15,2.47,0.00,0.000,4,0.098,0.047,2635,750,3282
$GC,2167,-1.25,-146.0,245.3,-9.4,375,2173,0.00,2.38,0.00,0.000,6,0.000,0.029,2635,2165,3283
$GC,2501,-1.28,-146.0,272.5,-8.2,411,2505,0.00,2.40,0.00,0.000,4,0.000,0.047,2635,3555,3282
$GC,2541,-1.28,-146.0,276.0,-8.4,414,2545,0.00,2.35,0.00,0.000,6,0.000,0.030,2635,2147,3281
$GC,2867,-1.32,-146.0,301.4,-8.0,444,2871,0.00,2.42,0.00,0.000,4,0.000,0.046,2635,3545,3280
$GC,2922,-1.35,-146.0,306.5,-8.9,448,2929,0.12,2.30,0.00,0.000,6,0.057,0.031,2597,2171,3280
$GC,3247,-1.30,-146.0,339.0,-9.9,479,3248,0.12,0.00,0.00,0.000,6,0.106,0.000,2620,2168,3279
$GC,3566,-1.30,-146.0,367.1,-8.6,509,3570,0.00,2.40,0.00,0.000,4,0.000,0.048,2620,3545,3277
$GC,3628,-1.30,-146.0,372.8,-9.2,514,3632,0.00,2.30,0.00,0.000,6,0.000,0.032,2620,2183,3276
$GC,3954,-1.30,-146.0,399.3,-8.0,544,3958,0.00,2.55,0.00,0.000,4,0.000,0.052,2620,744,3274
$GC,3997,-1.33,-146.0,403.3,-8.7,547,4004,0.00,2.47,0.00,0.000,6,0.000,0.032,2620,2194,3274
$GC,4324,-1.33,-146.0,429.0,-8.0,578,4328,0.00,2.38,0.00,0.000,4,0.000,0.049,2620,3555,3272
$GC,4367,-1.33,-146.0,433.0,-8.5,581,4374,0.00,2.28,0.00,0.000,6,0.000,0.032,2620,2206,3271
$GC,4693,-1.33,-146.0,461.3,-9.2,612,4698,0.00,2.58,0.00,0.000,4,0.000,0.053,2620,754,3269
$GC,4725,-1.33,-146.0,464.5,-9.8,614,4733,0.00,2.50,0.00,0.000,6,0.000,0.034,2620,2195,3269
$GC,5052,-1.33,-146.0,493.1,-8.6,645,5053,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,3267
$GC,5363,-1.33,-146.0,518.7,-8.1,664,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,3266
$GC,5672,-1.33,-146.0,544.8,-8.8,679,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,3264
$GC,5983,-1.33,-146.0,571.2,-8.2,694,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2620,2195,3262
$GC,6290,-1.33,-146.0,597.4,-8.3,709,6294,0.00,2.40,0.00,0.000,4,0.000,0.054,2620,3553,3260
$GC,6324,-1.33,-146.0,600.3,-8.6,710,6331,0.00,2.30,0.00,0.000,6,0.000,0.035,2620,2197,3260
$GC,6640,-1.33,-146.0,624.9,-8.1,726,6644,0.00,2.40,0.00,0.000,4,0.000,0.054,2620,3553,3259
$GC,6666,-1.36,-146.0,627.5,-9.4,727,6671,0.00,2.30,0.00,0.000,6,0.000,0.035,2620,2204,3258
$GC,6988,-1.36,-146.0,652.5,-7.2,743,6993,0.00,2.60,0.00,0.000,4,0.000,0.058,2620,750,3257
$GC,7066,-1.42,-146.0,658.5,-7.2,746,7074,0.12,2.47,0.00,0.000,6,0.060,0.035,2585,2190,3257
$GC,7383,-1.37,-146.0,685.6,-9.0,762,7388,0.10,2.42,0.00,0.000,4,0.116,0.054,2603,3563,3256
$GC,7415,-1.37,-146.0,688.7,-8.9,763,7422,0.00,2.40,0.00,0.000,6,0.000,0.035,2603,2156,3256
$GC,7731,-1.37,-146.0,714.6,-8.1,779,7735,0.00,2.50,0.00,0.000,4,0.000,0.055,2603,3560,3254
$GC,7774,-1.37,-146.0,718.3,-8.6,781,7779,0.00,2.35,0.00,0.000,6,0.000,0.035,2603,2185,3254
$GC,8097,-1.37,-146.0,741.9,-7.6,797,8101,0.00,2.58,0.00,0.000,4,0.000,0.059,2603,751,3252
$GC,8123,-1.37,-146.0,744.1,-8.3,798,8127,0.00,2.47,0.00,0.000,6,0.000,0.036,2603,2185,3252
$GC,8445,-1.37,-146.0,769.3,-7.5,814,8449,0.00,2.42,0.00,0.000,4,0.000,0.058,2603,3554,3251
$STATE,8475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8475,begin apogee
$GC,8481,-0.34,0.0,772.1,8.4,815,8608,1.08,0.00,119.47,1.201,6,0.095,0.000,2824,2369,2678
$STATE,8609,end apogee,CONTROL_FINISHED_OK
$STATE,8609,begin climb
$GC,8611,1.42,146.0,775.7,0.0,822,8742,1.80,2.58,122.22,1.160,4,0.061,0.058,3217,3726,2082
$GC,8820,1.17,146.0,758.3,13.7,831,8825,0.30,2.35,0.00,0.000,6,0.125,0.038,3165,2383,2081
$GC,9142,1.07,146.0,726.3,9.7,847,9147,0.15,2.58,0.00,0.000,4,0.123,0.058,3138,966,2079
$GC,9185,1.01,146.0,722.1,9.6,849,9189,0.00,2.45,0.00,0.000,6,0.000,0.039,3138,2365,2079
$GC,9514,0.96,146.0,691.7,9.3,865,9518,0.12,2.45,0.00,0.000,4,0.127,0.060,3118,3726,2078
$GC,9553,0.96,146.0,687.7,10.1,867,9557,0.00,2.33,0.00,0.000,6,0.000,0.038,3118,2383,2078
$GC,9881,0.99,162.1,660.0,8.2,883,9904,0.00,2.65,12.73,1.178,4,0.000,0.058,3118,975,2017
$GC,9966,0.99,162.1,652.3,9.5,886,9974,0.00,2.47,0.00,0.000,6,0.000,0.038,3118,2380,2017
$GC,10282,1.00,172.4,625.4,8.5,902,10296,0.00,2.62,8.88,1.168,4,0.000,0.057,3118,967,1975
$GC,10341,1.00,172.4,620.1,9.2,904,10349,0.00,2.47,0.00,0.000,6,0.000,0.040,3118,2349,1974
$GC,10657,1.04,196.0,594.6,7.8,920,10684,0.00,2.60,19.90,1.123,4,0.000,0.061,3118,3724,1878
$GC,10717,1.04,196.0,589.2,9.8,922,10725,0.00,2.40,0.00,0.000,6,0.000,0.038,3118,2366,1877
$GC,11034,1.10,210.1,562.8,8.3,938,11048,0.12,0.00,11.68,1.124,6,0.069,0.000,3149,2365,1821
$GC,11343,1.10,210.1,532.1,10.0,953,11344,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2364,1820
$GC,11652,1.10,210.1,500.8,9.9,968,11656,0.00,2.53,0.00,0.000,4,0.000,0.058,3149,966,1819
$GC,11695,1.12,219.5,496.6,8.5,971,11708,0.00,2.45,7.88,1.094,6,0.000,0.038,3149,2369,1783
$GC,12026,1.12,219.5,465.4,9.2,1002,12031,0.00,2.53,0.00,0.000,4,0.000,0.056,3149,970,1783
$GC,12092,1.12,219.5,458.8,10.1,1007,12100,0.00,2.40,0.00,0.000,6,0.000,0.037,3149,2335,1782
$GC,12419,1.12,219.5,428.0,10.3,1038,12420,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2335,1782
$GC,12736,1.12,219.5,396.6,9.8,1068,12740,0.00,2.47,0.00,0.000,4,0.000,0.058,3149,3723,1782
$GC,12779,1.12,219.5,391.9,10.5,1071,12787,0.00,2.42,0.00,0.000,6,0.000,0.037,3149,2332,1782
$GC,13105,1.12,219.5,360.0,9.4,1102,13106,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2332,1783
$GC,13424,1.13,227.9,331.4,8.6,1132,13434,0.00,0.00,7.38,0.981,6,0.000,0.000,3149,2332,1748
$GC,13752,1.15,240.0,303.5,8.4,1163,13764,0.00,0.00,10.05,0.943,6,0.000,0.000,3149,2330,1699
$GC,14082,1.21,251.5,276.1,8.4,1194,14093,0.00,0.00,9.82,0.918,6,0.000,0.000,3149,2330,1652
$GC,14409,1.28,271.2,248.3,8.0,1226,14432,0.15,2.55,16.42,0.869,4,0.061,0.054,3191,969,1571
$GC,14529,1.25,271.2,235.7,11.3,1246,14536,0.00,2.42,0.00,0.000,6,0.000,0.036,3191,2359,1570
$GC,14874,1.25,271.2,199.1,10.3,1307,14880,0.00,2.50,0.00,0.000,4,0.000,0.053,3191,964,1570
$GC,14920,1.25,271.2,194.4,9.6,1315,14927,0.00,2.40,0.00,0.000,6,0.000,0.035,3191,2349,1569
$GC,15264,1.27,285.2,163.4,8.3,1376,15279,0.00,0.00,10.93,0.812,6,0.000,0.000,3191,2349,1515
$GC,15615,1.39,321.9,138.8,7.1,1438,15651,0.00,2.55,29.73,0.741,4,0.000,0.053,3191,3726,1364
$GC,15680,1.48,324.8,133.6,8.9,1449,15689,0.17,2.45,2.53,0.786,6,0.051,0.034,3237,2301,1353
$GC,16027,1.55,346.6,104.2,7.9,1510,16052,0.00,2.42,17.12,0.713,4,0.000,0.051,3237,960,1263
$GC,16075,1.61,357.7,100.2,8.5,1518,16094,0.00,2.38,9.20,0.703,6,0.000,0.032,3237,2333,1218
$GC,16432,1.71,370.8,69.2,8.3,1581,16451,0.15,2.50,9.98,0.685,4,0.052,0.048,3283,967,1164
$GC,16559,1.71,370.8,56.1,10.6,1603,16566,0.00,2.25,0.00,0.000,6,0.000,0.031,3282,2282,1163
$GC,16904,1.78,393.9,27.3,7.8,1664,16929,0.00,2.30,18.25,0.615,4,0.000,0.047,3283,967,1071
$GC,16952,1.83,393.9,23.0,9.1,1672,16958,0.00,2.22,0.00,0.000,6,0.000,0.030,3283,2271,1070
$STATE,17192,end climb,SURFACE_DEPTH_REACHED
$STATE,17193,begin surface coast
$FINISH,-0.1,0.997203
$STATE,17222,end surface coast,CONTROL_FINISHED_OK
$STATE,17222,begin surface
$SM_CCo,17244,39.85,0.556,0,0,740,475.15
$SM_GC,0.54,0.00,0.00,39.85,0.000,0.000,0.556,252,2110,740,-12.20,-1.13,475.15
$IRIDIUM_FIX,1238.83,12018.41,080697,181808
$TT8_MAMPS,0.023777
$HUMID,1942
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.40
$XPDR_PINGS,424
$24V_AH,23.3,26.437
$10V_AH,10.1,12.946
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,32.600,165.025,444.150,39.850,0.000,29.082,33.234,151.748,113.000,0.000,0.000,13.047,3439.239,10233.300,696.010,2789.227,453.567,0.000,2103.457,0.000,2731.772,0.000,51.700
$DEVICE_MAMPS,174.109,61.360,1201.122,556.075,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1153.294,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,53426,1720
$CAP_FILE_SIZE,174517,0
$CFSIZE,260165632,246464512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,164.6,1
$GPS,150308,051137,1246.207,12023.922,29,1.2,29,-0.8